CN114104199A - Low-power-consumption self-elevating submerged buoy based on glider and working method thereof - Google Patents
Low-power-consumption self-elevating submerged buoy based on glider and working method thereof Download PDFInfo
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- CN114104199A CN114104199A CN202210088690.5A CN202210088690A CN114104199A CN 114104199 A CN114104199 A CN 114104199A CN 202210088690 A CN202210088690 A CN 202210088690A CN 114104199 A CN114104199 A CN 114104199A
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- submerged buoy
- wing
- buoy body
- submerged
- control module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
Abstract
The invention discloses a low-power-consumption self-elevating submerged buoy based on a glider, and belongs to the field of underwater fixed-point observation platforms. The submerged buoy comprises a submerged buoy body, wherein an unpowered glider wing is arranged above the submerged buoy body; the unpowered gliding wing comprises a delta wing, the axis of the delta wing is parallel to the axis of the submerged buoy body, the tip of the delta wing is positioned right above the bow of the submerged buoy body, and the tail wing is rigidly fixed at the center of the tail of the delta wing; the inside of the submerged buoy body is provided with a battery pack and a driving mechanism for driving the battery pack to move back and forth along the axis direction of the submerged buoy body; a water depth control module is arranged at the bow of the submerged buoy body and comprises an inner oil bag, an outer oil bag, an oil way and a hydraulic pump. According to the invention, the large-area triangular gliding wing is additionally arranged above the submerged buoy body, and the pitching attitude of the submerged buoy body is adjusted by matching with the movable battery pack and the water depth control module, so that fluid generates heaving force on the gliding wing, the floating and submerging processes of the submerged buoy are accelerated, and the total power consumption is reduced.
Description
Technical Field
The invention relates to the field of underwater fixed-point observation platforms, in particular to a low-power consumption self-elevating submerged buoy based on a glider wing and a working method of the submerged buoy.
Background
The submerged buoy is a system moored below the sea surface for observing the marine environment elements at fixed points, can continuously and automatically transmit acquired information to the back end for a long time, and is an important means for offshore monitoring. When the underwater buoy is applied, the underwater buoy is laid in a specific sea area through an anchor system, is submerged to a certain water depth for standby after an instruction is written, floats to the sea surface at fixed time, transmits collected hydrological factors, and is then submerged to the set water depth for standby. The floating and submerging period of the submerged buoy can be set according to actual requirements. Because the submerged buoy floats upwards and submerges frequently, the power consumption is high, and a solar or wind power generation device cannot be adopted for supplying power, the power consumption in the process of floating upwards and submerging downwards is reduced, and the cruising ability is improved, which is particularly important.
Disclosure of Invention
Based on the technical problem, the invention provides a low-power consumption self-elevating submerged buoy based on a glider and a working method of the self-elevating submerged buoy.
The technical solution adopted by the invention is as follows:
a low-power consumption self-elevating submerged buoy based on a glider comprises a submerged buoy body, wherein an unpowered glider is arranged above the outer part of the submerged buoy body; the unpowered gliding wing comprises a delta wing, the axis of the delta wing is parallel to the axis of the submerged buoy body, the tip of the delta wing is positioned right above the bow of the submerged buoy body, and the wing surface of the delta wing covers the submerged buoy body when viewed from right above; the tail part of the delta wing exceeds the stern part of the submerged buoy body, and the tail wing is rigidly fixed in the center of the tail part of the delta wing;
the electric power module is arranged in the middle section of the interior of the submerged buoy body and comprises a battery pack and a driving mechanism for driving the battery pack to move back and forth along the axis direction of the submerged buoy body;
a water depth control module is arranged at the bow of the submerged buoy body and comprises an inner oil bag, an outer oil bag, an oil way and a hydraulic pump, the inner oil bag is communicated with the outer oil bag through the oil way, the hydraulic pump is used for controlling the outer oil bag to charge or discharge oil, the outer oil bag is arranged outside a closed cabin of the submerged buoy body, and the inner oil bag, the oil way and the hydraulic pump are arranged inside the closed cabin of the submerged buoy body;
the stern section of the submerged buoy body is provided with a central control module and a data acquisition module used for acquiring ocean data information and self state information, the data acquisition module is connected with the central control module, the central control module is respectively connected with a power module and a water depth control module, and the central control module is further connected with a communication module.
Preferably, the delta wing comprises two wing surfaces which are fixed on the rigid frame and symmetrically distributed;
the rigid frame comprises a central support rod, edge support rods are arranged on two sides of the central support rod, the edge support rods and the central support rod are intersected at the same end, and each wing surface is correspondingly fixed between the central support rod and one edge support rod;
the outer side of the submerged buoy body is sleeved with a hoop, a connecting piece is arranged at a corresponding position of the central support rod, and the connecting piece is connected with the end head of the hoop through a bolt.
Preferably, an end is arranged at the tip end of the delta wing, the end parts of the central support rod and the edge support rod are connected with the end, and a reinforcing rod is further arranged between the central support rod and the edge support rod.
Preferably, the driving mechanism comprises a motor and a ball screw, the motor is in transmission connection with the ball screw, the battery pack is mounted on the ball screw, and a plurality of supporting shafts parallel to the ball screw penetrate through the battery pack.
Preferably, the center of gravity of the battery pack is located below the ball screw.
Preferably, the oil path is arranged on the valve block; the hydraulic pump is a bidirectional pump, the outer oil bag discharges oil when rotating forwards, and the outer oil bag charges oil when rotating backwards; streamlined safety covers are arranged at two ends of a sealed cabin of the submerged buoy body, overflowing holes are formed in the streamlined safety covers, and the outer oil bag is arranged in the streamlined safety covers at the bow of the submerged buoy body.
Preferably, the self-elevating submerged buoy further comprises a mooring system used for controlling the submerged buoy body to monitor data within a certain sea area range, the mooring system comprises an anchor and a cable fixed on the sea bottom, one end of the cable is connected with the anchor, the other end of the cable is connected with a rigging, and the rigging is rotationally fixed on the submerged buoy body.
Preferably, the data acquisition module comprises a current measuring module for acquiring marine hydrological information and an attitude adjusting module for acquiring current attitude information of the submerged buoy, and the current measuring module and the attitude adjusting module are both connected with the central control module;
the communication module comprises a communication antenna, the communication antenna extends out of the sealed cabin of the submerged buoy body and is fixed at the stern part of the sealed cabin, the communication antenna is of a flexible structure and penetrates through the delta wing from the position between the wing surface and the central support rod.
Preferably, the tail wing is arranged on the central support rod, and the tail wing is positioned in a vertical plane where the central support rod is positioned.
A working method of a low-power consumption self-elevating submerged buoy based on a glider adopts the self-elevating submerged buoy, and comprises the following steps:
(1) if the submerged buoy needs to submerge, the central control module controls the outer oil bag to discharge oil through the hydraulic pump of the water depth control module, and the buoyancy is smaller than the gravity to generate power for driving the submerged buoy to submerge; meanwhile, the central control module controls the battery pack to move towards the stern direction along the axial direction of the submerged buoy body through a driving mechanism of the power module, the unpowered glider wing inclines towards the stern direction under the action of the heavy buoyancy force moment to finish the pitching action, and the wing surface forms a sinking force under the action of ocean current to accelerate the submerged buoy to submerge; after the preset depth is reached, the central control module acquires data through the data acquisition module, judges the current posture of the submerged buoy, and adjusts the oil quantity of the outer oil bag and the axial position of the battery pack through the hydraulic pump and the driving mechanism respectively again to enable the submerged buoy to keep horizontal and suspend for standby under water;
(2) if the submerged buoy needs to float upwards, the central control module controls the outer oil bag to absorb oil through the hydraulic pump of the water depth control module, and the buoyancy is larger than the gravity to generate power for driving the submerged buoy to float upwards; meanwhile, the central control module controls the battery pack to move towards the bow direction along the axial direction of the submerged buoy body through a driving mechanism of the power module, the unpowered glider inclines towards the bow direction under the action of the heavy buoyancy moment to finish the downward-bending action, and the wing surface forms a lifting force under the action of ocean current to accelerate the upward floating of the submerged buoy; after the underwater buoy reaches the water surface, the oil quantity of the outer oil bag and the axial position of the battery pack are adjusted through the hydraulic pump and the driving mechanism respectively, so that the underwater buoy is kept horizontal, and the communication module is communicated with a satellite to transmit data.
The beneficial technical effects of the invention are as follows:
according to the invention, the large-area triangular gliding wing is additionally arranged above the submerged buoy body, and the pitching attitude of the submerged buoy body is adjusted by matching with the power module and the water depth control module, so that fluid generates heaving force on the gliding wing, the floating and submerging processes of the submerged buoy are accelerated, and the total power consumption is reduced.
Drawings
The invention will be further described with reference to the following detailed description and drawings:
FIG. 1 is a schematic view of the overall structure of a low-power self-elevating submerged buoy based on a glider;
FIG. 2 is a schematic structural diagram of a power module part in the self-elevating submerged buoy of the invention;
FIG. 3 is a schematic diagram of the low power consumption self-elevating submerged buoy floating state based on glider of the present invention;
FIG. 4 is an enlarged partial schematic view of FIG. 3, primarily illustrating the structure of the stem of the submerged buoy body;
FIG. 5 is another perspective view of the low power consumption self-elevating submerged buoy ascent state of the present invention based on gliders;
fig. 6 is a schematic view of the low-power consumption self-elevating submerged buoy submerging state based on the glider.
Detailed Description
With the attached drawings, the low-power consumption self-elevating submerged buoy based on the glider comprises a submerged buoy body 1, and an unpowered glider is arranged above the outer portion of the submerged buoy body. The unpowered gliding wing comprises a delta wing 2, the axis of the delta wing 2 is parallel to the axis of the submerged buoy body, the tip of the delta wing 2 is positioned right above the bow of the submerged buoy body 1, and the wing surface 201 of the delta wing covers the submerged buoy body 1 when viewed from right above. The tail part of the delta wing 2 exceeds the stern part of the submerged buoy body 1, and the tail wing 3 is rigidly fixed at the center of the tail part of the delta wing to keep stable structure. The power module 4 is arranged in the middle section of the interior of the submerged buoy body 1, and the power module 4 comprises a battery pack 401 and a driving mechanism for driving the battery pack 401 to move back and forth along the axis direction of the submerged buoy body. A water depth control module 5 is arranged at the bow of the submerged buoy body 1, the water depth control module 5 comprises an inner oil bag 501, an outer oil bag 502, an oil way and a hydraulic pump, the inner oil bag 501 is communicated with the outer oil bag 502 through the oil way, the hydraulic pump is used for controlling the outer oil bag to charge oil or discharge oil, the outer oil bag is arranged outside the sealed cabin of the submerged buoy body 1, and the inner oil bag, the oil way and the hydraulic pump are arranged inside the sealed cabin of the submerged buoy body. The stern section of the submerged buoy body is provided with a central control module 6 and a data acquisition module 7 used for acquiring ocean data information and self state information, the data acquisition module 7 is connected with the central control module 6, the central control module 6 is respectively connected with the power module 4 and the water depth control module 5, and the central control module 6 is further connected with a communication module 8.
The invention is based on the low-power consumption self-elevating submerged buoy of the glider, when the submerging or floating task needs to be carried out, the volume of an oil bag outside the bow of the submerged buoy is controlled through the water depth control module 5, the heavy buoyancy relation of the system is adjusted, and the driving force is generated; and meanwhile, the axial position of the movable battery pack in the submerged buoy is adjusted, and the pitching attitude of the submerged buoy is changed. The large-area triangular gliding wing is additionally arranged above the submerged buoy shell, based on the incident flow effect of the wing, the bow of the submerged buoy is always over against the ocean current direction, and the process that the submerged buoy reaches a set depth is accelerated by hydrodynamic action of ocean current on the wing surface and combined with the attitude of the submerged buoy to generate a lifting force, so that the purpose of reducing the overall power consumption is achieved, the electric energy consumed in the process that the submerged buoy periodically floats upwards and descends is reduced, the cruising ability of the submerged buoy is improved, and the cruising time is prolonged.
As a further design of the present invention, the delta wing 2 includes two wing surfaces 201, and the two wing surfaces 201 are fixed on the rigid frame and are symmetrically distributed. The rigid frame comprises a central support rod 202, edge support rods 203 are symmetrically arranged on two sides of the central support rod, the edge support rods 203 and the central support rod 202 are intersected at the same end, and each airfoil surface is correspondingly fixed between the central support rod 202 and one edge support rod 203. The outer side of the submerged buoy body 1 is sleeved with an anchor ear 9, a connecting piece 10 is arranged at a corresponding position of the central support rod 202, and the connecting piece is connected with the end head of the anchor ear through a bolt. The hoop 9 and the connecting piece 10 may be correspondingly arranged in plural, and are respectively arranged along the axial direction of the submerged buoy body 1 and the length direction of the central support rod 202 at intervals.
The large-area unpowered gliding wing is fixedly suspended outside the submerged buoy, the bow of the submerged buoy is always kept in an incident flow posture under the flow guiding action of the wings, and the size and the direction of the heaving force of the submerged buoy can be controlled by changing the incident flow angle of the gliding wing. And the large-area gliding wing which can cover the submerged buoy body is arranged outside the submerged buoy body, so that the floating core of the submerged buoy body can be pulled up, and the stability of the system is improved.
Furthermore, a tip 204 is further arranged at the tip of the delta wing, the end portions of the central support rod 202 and the edge support rod 203 are all connected with the tip 204 through bolt locking, specifically, a slot can be arranged on the tip 204, inserting pieces are arranged at the end portions of the central support rod and the edge support rod, through holes are arranged at the corresponding positions of the inserting pieces and the slot, bolts can be inserted into the through holes, and the through holes are matched with nuts for locking and fixing. The connecting mode can conveniently adapt to and adjust the included angle between the edge supporting rod and the central supporting rod according to the shape and the size of the airfoil surface, and then the included angle is locked and fixed through the bolt. A reinforcing bar 205 is also provided between the central support bar 202 and the edge support bars 203 to increase the strength of the rigid frame.
The driving mechanism comprises a motor 402 and a ball screw 403, the motor 402 is in transmission connection with the ball screw 403, the battery pack 401 is mounted on the ball screw 403, and when the ball screw rotates, the battery pack 401 can be driven to move linearly. A plurality of support shafts 404 parallel to the ball screws are passed through the battery pack 401. The battery 401 provides power to the system and the battery may be configured as a half-moon lithium battery with a center of gravity below the ball screw 403 to enhance the stability of the system. The gravity center of the submerged buoy body along the axial direction is adjusted by changing the position of the battery pack, and the pitching posture of the submerged buoy body is changed under the action of the gravity buoyancy moment, so that the incident flow angle of the glider wing is changed.
The oil passage is provided in the valve block 503. The water depth control module also comprises a driving motor, an electromagnetic valve and the like, the outer oil bag is positioned outside the closed cabin, and the rest part is integrated inside the cabin body through a valve block. The water depth control module develops and finishes the oil filling and oil discharging actions of the outer oil bag according to the feedback information of the data acquisition module under the requirement of the set instruction of the central control module, thereby finishing the integral buoyancy adjustment of the submerged buoy and controlling the submerged buoy to reach the set water depth position, wherein: the inner oil bag is positioned at the stem of the submerged buoy and is directly connected with the outer oil bag through an oil way in the valve block, so that the adjustment time of the integral buoyancy is effectively reduced, and the energy consumption is reduced. The hydraulic pump is a bidirectional pump, when the hydraulic pump rotates forwards, the outer oil bag discharges oil, the total buoyancy is reduced, the gravity is greater than the buoyancy, and the submerged buoy dives; when the buoy rotates reversely, the outer oil bag charges oil, the total buoyancy is increased, the gravity is smaller than the buoyancy, and the submerged buoy floats upwards.
Streamlined protective covers 101 are arranged at two ends of a sealed cabin of the submerged buoy body 1, overflowing holes are arranged on the streamlined protective covers, and the outer oil bag 502 is arranged in the streamlined protective covers at the bow part of the submerged buoy body.
The submerged buoy body comprises a cylinder body, an end cover, a watertight interface, a mechanical interface, a sealing ring and the like in terms of mechanical structure, provides a closed cabin body and buoyancy for a system, namely provides a sealed space with pressure resistance and can bear the water pressure of deep water on one hand, and provides buoyancy for the submerged buoy system under water on the other hand. The large-area gliding wing capable of covering the buoy body is additionally arranged outside the closed cabin body, so that the floating core of the buoy body is pulled up, and the stability of the system is improved. The overall appearance of the submerged buoy is streamline, and the transverse section of the central line is circular.
Furthermore, the self-elevating submerged buoy also comprises a mooring system for controlling the submerged buoy body to monitor data in a certain sea area range, so that the submerged buoy is controlled to monitor data in the certain sea area range, and fixed-point placement of the submerged buoy is realized. The mooring system comprises an anchor 11 fixed on the sea bottom and a cable 12, wherein the cable 12 is of a flexible structure and has certain tension and flexibility, one end of the cable is connected with the anchor 11, the other end of the cable is connected with a rigging 13, and the rigging 13 is rotationally fixed on the submerged buoy body 1. In particular, the rigging 13 may be connected to the casing of the submerged buoy body by means of a pin, the rigging being rotatable relative to the submerged buoy body. In order to improve the stability, two rigging can be arranged, and there is the arrangement on the both sides of stealthy mark body.
The data acquisition module 7 comprises a current measuring module for acquiring marine hydrological information and an attitude adjusting module for acquiring current attitude information of the submerged buoy, and the current measuring module and the attitude adjusting module are both connected with the central control module 6. The communication module 8 comprises a communication antenna 801, the communication antenna 801 extends out of the sealed cabin of the submerged buoy body and is fixed at the stern part of the sealed cabin, the communication antenna is of a flexible structure and penetrates through the delta wing from the position between the wing surface and the central support rod.
Further, an emergency floating module 14 is further arranged on the submerged buoy body, the emergency floating module 14 can sense the electric quantity condition of the battery pack and the humidity condition in the sealed cabin of the submerged buoy body, and the emergency floating module 14 is connected with the central control module. That is to say, when the emergency floating module 14 senses that the electric quantity of the battery pack is less or the sealed cabin of the submerged buoy body leaks water, the submerged buoy can be controlled to stop submerging through the central control module, and the floating action is executed, so that the submerged buoy can emergently float to the sea surface.
The central control module 6, the data acquisition module 7, the emergency floating module 14 and the communication module 8 are fixed on a stern section in the submerged buoy closed cabin, the central control module 6 receives and responds to a rear end control instruction through the communication antenna 801 and uploads state information to the rear end, the communication antenna extends out of the closed cabin body, and the communication antenna is exposed out of the water surface when the submerged buoy is in water communication.
The tail fins 3 are arranged on the central support rod 202, and are arranged in a straight line in the vertical plane of the central support rod 202.
When the submerged buoy floats upwards or submerges, the submerged buoy pitches along the axial direction of the submerged buoy body, and the heading (the top end of the glider wing) of the submerged buoy is always kept consistent with the direction of ocean current; the posture of the submerged buoy body is horizontal when the submerged buoy hovers underwater and communicates on water.
The working method of the low-power-consumption self-elevating submerged buoy based on the glider comprises the following steps:
(1) if the submerged buoy needs to submerge, the central control module 6 controls the oil discharge of the outer oil bag 502 through the hydraulic pump of the water depth control module 5, so that the overall buoyancy of the submerged buoy is smaller than the gravity, and power for driving the submerged buoy to submerge is generated. Meanwhile, the central control module 6 controls the battery pack 401 to move towards the stern direction along the axial direction of the submerged buoy body through a driving mechanism of the power module 4, the unpowered glider wing inclines towards the stern direction under the action of the heavy buoyancy force moment to finish the upward pitching action, and the wing surface forms a sinking force under the action of ocean current to accelerate the submerged buoy to submerge; and after the preset depth is reached, the central control module acquires data through the data acquisition module, judges the current posture of the submerged buoy, and adjusts the oil quantity of the outer oil bag and the axial position of the battery pack through the hydraulic pump and the driving mechanism respectively again to ensure that the submerged buoy is kept horizontal and is suspended for standby under water.
(2) If the submerged buoy needs to float upwards, the central control module controls the outer oil bag to absorb oil through the hydraulic pump of the water depth control module, and the buoyancy is larger than the gravity to generate power for driving the submerged buoy to float upwards; meanwhile, the central control module controls the battery pack to move towards the bow direction along the axial direction of the submerged buoy body through a driving mechanism of the power module, the unpowered glider inclines towards the bow direction under the action of the heavy buoyancy moment to finish the downward-bending action, and the wing surface forms a lifting force under the action of ocean current to accelerate the upward floating of the submerged buoy; after the underwater buoy reaches the water surface, the oil quantity of the outer oil bag and the axial position of the battery pack are adjusted through the hydraulic pump and the driving mechanism respectively, so that the underwater buoy is kept horizontal, and the communication module is communicated with a satellite to transmit data.
The low-power-consumption self-elevating submerged buoy based on the gliding wing performs periodic zigzag movement along the ocean section on the whole according to a preset instruction.
Parts not described in the above modes can be realized by adopting or referring to the prior art.
It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a low-power consumption is from rising formula submerged buoy based on hang glider which characterized in that: the underwater buoy comprises an underwater buoy body (1), wherein an unpowered gliding wing is arranged above the outer part of the underwater buoy body (1); the unpowered gliding wing comprises a delta wing (2), the axis of the delta wing (2) is parallel to the axis of the submerged buoy body, the tip of the delta wing (2) is positioned right above the bow of the submerged buoy body (1), and the wing surface (201) of the delta wing covers the submerged buoy body (1) when the tip is seen from right above and downwards; the tail part of the delta wing (2) exceeds the stern part of the submerged buoy body (1), and a tail wing (3) is rigidly fixed at the center of the tail part of the delta wing;
the electric power submersible buoy comprises a submersible buoy body (1), wherein an electric power module (4) is arranged in the middle section of the interior of the submersible buoy body (1), and the electric power module (4) comprises a battery pack (401) and a driving mechanism for driving the battery pack (401) to move back and forth along the axis direction of the submersible buoy body;
a water depth control module (5) is arranged at the bow of the submerged buoy body, the water depth control module comprises an inner oil bag (501), an outer oil bag (502), an oil way and a hydraulic pump, the inner oil bag is communicated with the outer oil bag through the oil way, the hydraulic pump is used for controlling the outer oil bag to charge oil or discharge oil, the outer oil bag is arranged outside a closed cabin of the submerged buoy body, and the inner oil bag, the oil way and the hydraulic pump are arranged inside the closed cabin of the submerged buoy body;
the stern section of the submerged buoy body is provided with a central control module (6) and a data acquisition module (7) used for acquiring ocean data information and self state information, the data acquisition module (7) is connected with the central control module (6), the central control module (6) is respectively connected with a power module (4) and a water depth control module (5), and the central control module (6) is further connected with a communication module (8).
2. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 1, wherein: the delta wing (2) comprises two wing surfaces (201), and the two wing surfaces (201) are fixed on the rigid frame and are symmetrically distributed;
the rigid frame comprises a central support rod (202), edge support rods (203) are arranged on two sides of the central support rod, the edge support rods (203) and the central support rod (202) are intersected at the same end, and each wing surface is correspondingly fixed between the central support rod (202) and one of the edge support rods;
the outer side of the submerged buoy body (1) is sleeved with a hoop (9), a connecting piece (10) is arranged at a corresponding position of the central support rod (202), and the connecting piece (10) is connected with the end head of the hoop (9) through a bolt.
3. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 2, wherein: the tip (204) is arranged at the tip of the delta wing, the end parts of the central support rod (202) and the edge support rod (203) are connected with the tip (204), and a reinforcing rod (205) is arranged between the central support rod (202) and the edge support rod (203).
4. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 1, wherein: the driving mechanism comprises a motor (402) and a ball screw (403), the motor (402) is in transmission connection with the ball screw (403), a battery pack (401) is mounted on the ball screw (403), and a plurality of supporting shafts (404) parallel to the ball screw penetrate through the battery pack.
5. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 4, wherein: the gravity center of the battery pack (401) is positioned below the ball screw (403).
6. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 1, wherein: the oil way is arranged on the valve block (503); the hydraulic pump is a bidirectional pump, when the hydraulic pump rotates forwards, the outer oil bag (502) discharges oil, and when the hydraulic pump rotates backwards, the outer oil bag (502) charges oil; the two ends of the sealed cabin of the submerged buoy body are provided with streamline protective covers (101), overflowing holes are formed in the streamline protective covers (101), and the outer oil bag (502) is arranged in the streamline protective covers at the bow of the submerged buoy body.
7. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 1, wherein: the self-elevating submerged buoy further comprises a mooring system used for controlling the submerged buoy body to monitor data within a certain sea area range, the mooring system comprises an anchor (11) and a mooring rope (12) which are fixed on the sea bottom, one end of the mooring rope (12) is connected with the anchor (11), the other end of the mooring rope (12) is connected with a rigging (13), and the rigging (13) is rotationally fixed on the submerged buoy body.
8. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 2, wherein: the data acquisition module comprises a current measuring module for acquiring marine hydrological information and an attitude adjusting module for acquiring current attitude information of the submerged buoy, and the current measuring module and the attitude adjusting module are both connected with the central control module (6);
the communication module (8) comprises a communication antenna (801), the communication antenna extends out of the sealed cabin of the submerged buoy body and is fixed at the stern part of the sealed cabin, the communication antenna is of a flexible structure and penetrates through the delta wing from the position between the wing surface and the central support rod.
9. The low-power consumption self-elevating submerged buoy based on the glider as claimed in claim 2, wherein: the empennage (3) is arranged on the central support rod (202) and is positioned in the vertical plane where the central support rod is positioned.
10. A method of operating a glider-based low-power consumption self-elevating submersible buoy according to any one of claims 1-9, comprising the steps of:
(1) if the submerged buoy needs to submerge, the central control module (6) controls the outer oil bag (502) to discharge oil through the hydraulic pump of the water depth control module (5), the buoyancy is smaller than the gravity, and power for driving the submerged buoy to submerge is generated; meanwhile, the central control module (6) controls the battery pack (401) to move towards the stern part along the axial direction of the submerged buoy body through a driving mechanism of the power module (4), the unpowered glider wing inclines towards the stern part under the action of the heavy buoyancy force moment to finish the upward pitching action, and the wing surface forms a sinking force under the action of ocean current to accelerate the submerged buoy to descend; after the preset depth is reached, the central control module acquires data through the data acquisition module, judges the current posture of the submerged buoy, and adjusts the oil quantity of the outer oil bag and the axial position of the battery pack through the hydraulic pump and the driving mechanism respectively again to enable the submerged buoy to keep horizontal and suspend for standby under water;
(2) if the submerged buoy needs to float upwards, the central control module (6) controls the outer oil bag (502) to absorb oil through the hydraulic pump of the water depth control module (5), the buoyancy is larger than the gravity, and power for driving the submerged buoy to float upwards is generated; meanwhile, the central control module (6) controls the battery pack (401) to move towards the bow direction along the axial direction of the submerged buoy body through a driving mechanism of the power module (4), the unpowered gliding wing tilts towards the bow direction under the action of the heavy buoyancy moment to finish the downward and downward actions, and the wing surface forms a lifting force under the action of ocean current to accelerate the submerged buoy to float upwards; after the underwater buoy reaches the water surface, the oil quantity of the outer oil bag and the axial position of the battery pack are adjusted through the hydraulic pump and the driving mechanism respectively, so that the underwater buoy is kept horizontal, and the communication module is communicated with a satellite to transmit data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210088690.5A CN114104199B (en) | 2022-01-26 | 2022-01-26 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210088690.5A CN114104199B (en) | 2022-01-26 | 2022-01-26 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN114104199A true CN114104199A (en) | 2022-03-01 |
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| JPH08169396A (en) * | 1994-12-20 | 1996-07-02 | Ishikawajima Harima Heavy Ind Co Ltd | Submarged towed body |
| CN101007566A (en) * | 2007-01-23 | 2007-08-01 | 天津大学 | Hybrid type underwater sailing device |
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| CN109018271A (en) * | 2018-06-27 | 2018-12-18 | 哈尔滨工程大学 | A kind of novel big span combination drive UAV navigation |
| CN211281425U (en) * | 2019-07-25 | 2020-08-18 | 华南理工大学 | Rudder-operated multi-degree-of-freedom controlled underwater vehicle |
| CN212125484U (en) * | 2020-03-26 | 2020-12-11 | 中电科海洋信息技术研究院有限公司 | Buoyancy adjusting mechanism and underwater vehicle with same |
| CN213323621U (en) * | 2020-09-30 | 2021-06-01 | 中国科学院沈阳自动化研究所 | 7000 meter deep underwater glider |
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2022
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| JPH08169396A (en) * | 1994-12-20 | 1996-07-02 | Ishikawajima Harima Heavy Ind Co Ltd | Submarged towed body |
| CN101007566A (en) * | 2007-01-23 | 2007-08-01 | 天津大学 | Hybrid type underwater sailing device |
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| CN109018271A (en) * | 2018-06-27 | 2018-12-18 | 哈尔滨工程大学 | A kind of novel big span combination drive UAV navigation |
| CN211281425U (en) * | 2019-07-25 | 2020-08-18 | 华南理工大学 | Rudder-operated multi-degree-of-freedom controlled underwater vehicle |
| CN212125484U (en) * | 2020-03-26 | 2020-12-11 | 中电科海洋信息技术研究院有限公司 | Buoyancy adjusting mechanism and underwater vehicle with same |
| CN213323621U (en) * | 2020-09-30 | 2021-06-01 | 中国科学院沈阳自动化研究所 | 7000 meter deep underwater glider |
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| CN114104199B (en) | 2022-04-29 |
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